version: 66.04
glider: 16
mission: 13
dive: 63
start: 6 15 109 9 28 7
data:
$ID,16
$MISSION,13
$DIVE,63
$D_SURF,3
$D_FLARE,4
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,440
$T_MISSION,480
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,200
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,0
$FERRY_MAX,22
$KALMAN_USE,2
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,270
$ESCAPE_HEADING,45
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,62
$TGT_DEFAULT_LON,-6.8000002
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2108733.2
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,78
$PITCH_MAX,3321
$C_PITCH,2360
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,196
$ROLL_MAX,3869
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,509
$VBD_MAX,3836
$C_VBD,2817
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,4
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,100
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-20.343216
$PRESSURE_SLOPE,0.0001162269
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,4
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,20
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043199998
$SEABIRD_T_H,0.000619
$SEABIRD_T_I,2.055e-05
$SEABIRD_T_J,1.86e-06
$SEABIRD_C_G,-9.8699999
$SEABIRD_C_H,1.1
$SEABIRD_C_I,-0.000612
$SEABIRD_C_J,0.000141
$GPS1,092000,6156.235,-948.054,38,1.2,38,-9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-67.0
$GPS2,092749,6156.227,-948.228,11,1.2,16,-9.8
$SPEED_LIMITS,0.130,0.240
$TGT_NAME,HEADING
$TGT_LATLONG,6156.227,-1011.183
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.081,-0.225
$KALMAN_X,-87037.4,1552.8,520.3,38953.3,-1645.0
$KALMAN_Y,197075.5,-3550.9,-2288.7,-114382.5,45486.2
$MHEAD_RNG_PITCHd_Wd,279.8,20000,-13.9,-7.500
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.03,-146.6,0.0,0.0,0,77,0.00,0.00,-58.42,0.000,6,0.000,0.000,73,2600,3415
$GC,80,-1.03,-146.6,5.9,-10.5,3,102,11.88,2.38,0.00,0.000,4,0.182,0.063,2128,3857,3416
$GC,354,-1.03,-146.6,51.1,-12.6,15,359,0.00,2.17,0.00,0.000,6,0.000,0.028,2128,2579,3417
$GC,676,-1.03,-146.6,87.4,-9.8,31,680,0.00,2.38,0.00,0.000,4,0.000,0.064,2128,3860,3418
$GC,765,-1.03,-146.6,96.2,-10.0,35,769,0.00,2.15,0.00,0.000,6,0.000,0.029,2128,2590,3417
$GC,1093,-1.03,-146.6,127.6,-9.9,51,1095,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2589,3418
$GC,1402,-1.03,-146.6,157.9,-10.0,66,1403,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2589,3417
$GC,1711,-1.03,-146.6,187.5,-9.6,81,1712,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2589,3418
$GC,2020,-1.03,-146.6,217.2,-9.4,96,2021,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2589,3418
$GC,2330,-1.03,-146.6,246.2,-9.3,111,2331,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2588,3418
$GC,2638,-1.03,-146.6,274.2,-8.9,126,2640,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2589,3417
$GC,2949,-1.03,-146.6,301.5,-8.5,141,2950,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2589,3417
$GC,3257,-1.03,-146.6,328.1,-8.7,156,3258,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2589,3417
$GC,3566,-1.03,-146.6,356.2,-9.1,171,3567,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2589,3417
$GC,3876,-1.03,-146.6,383.9,-8.8,186,3880,0.00,2.42,0.00,0.000,4,0.000,0.043,2129,1216,3417
$GC,3909,-1.08,-146.6,386.9,-8.4,187,3915,0.00,2.42,0.00,0.000,6,0.000,0.038,2129,2597,3417
$GC,4225,-1.08,-146.6,414.2,-8.9,203,4226,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2597,3417
$GC,4534,-1.08,-146.6,441.5,-8.8,218,4535,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2597,3417
$GC,4843,-1.08,-146.6,468.5,-8.8,233,4847,0.00,2.45,0.00,0.000,4,0.000,0.041,2129,1208,3417
$GC,4887,-1.13,-146.6,472.3,-7.9,235,4891,0.00,2.45,0.00,0.000,6,0.000,0.038,2129,2601,3416
$GC,5209,-1.13,-146.6,499.1,-8.2,251,5210,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2600,3416
$GC,5518,-1.13,-146.6,524.5,-8.6,266,5519,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2601,3417
$GC,5827,-1.13,-146.6,553.1,-9.3,281,5831,0.00,2.45,0.00,0.000,4,0.000,0.041,2129,1212,3417
$GC,5890,-1.18,-146.6,558.7,-9.0,284,5895,0.12,2.45,0.00,0.000,6,0.048,0.039,2089,2605,3416
$GC,6217,-1.09,-146.6,593.7,-11.3,300,6219,0.17,0.00,0.00,0.000,6,0.095,0.000,2123,2605,3417
$GC,6527,-1.09,-146.6,625.9,-9.7,315,6528,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2606,3417
$GC,6836,-1.09,-146.6,648.9,-6.3,330,6837,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2605,3417
$GC,7145,-1.09,-146.6,667.7,-7.4,345,7149,0.00,2.35,0.00,0.000,4,0.000,0.074,2122,3858,3417
$GC,7267,-1.09,-146.6,681.7,-13.4,350,7274,0.00,2.12,0.00,0.000,6,0.000,0.032,2122,2616,3416
$GC,7583,-1.09,-146.6,715.8,-10.1,366,7587,0.00,2.53,0.00,0.000,4,0.000,0.049,2122,1202,3416
$GC,7713,-1.14,-146.6,728.2,-9.9,372,7717,0.00,2.50,0.00,0.000,6,0.000,0.044,2122,2605,3415
$GC,8039,-1.14,-146.6,753.3,-7.1,388,8044,0.00,2.53,0.00,0.000,4,0.000,0.049,2122,1197,3415
$GC,8080,-1.20,-146.6,756.0,-6.7,390,8085,0.12,2.50,0.00,0.000,6,0.053,0.044,2086,2600,3415
$GC,8407,-1.12,-146.6,788.5,-10.2,406,8409,0.15,0.00,0.00,0.000,6,0.102,0.000,2115,2600,3414
$GC,8716,-1.12,-146.6,814.6,-8.8,421,8717,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,2600,3413
$STATE,8837,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8837,begin apogee
$GC,8844,-0.31,0.0,824.5,7.8,427,8980,0.88,0.00,129.98,1.109,6,0.104,0.000,2290,2298,2818
$STATE,8980,end apogee,CONTROL_FINISHED_OK
$STATE,8980,begin climb
$GC,8983,1.03,146.6,829.1,0.0,434,9121,1.40,0.00,133.10,1.094,6,0.071,0.000,2585,2298,2219
$GC,9432,0.98,209.7,803.4,5.3,456,9492,0.00,0.00,57.47,1.062,6,0.000,0.000,2585,2298,1962
$GC,9799,0.90,209.7,772.8,8.4,474,9801,0.15,0.00,0.00,0.000,6,0.103,0.000,2557,2297,1954
$GC,10108,0.90,209.7,739.9,10.3,489,10109,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2297,1952
$GC,10418,0.93,242.5,715.7,6.4,504,10453,0.00,2.62,30.20,1.007,4,0.000,0.056,2557,904,1827
$GC,10487,0.98,281.8,711.4,6.2,506,10532,0.00,2.53,37.97,1.012,6,0.000,0.041,2557,2301,1667
$GC,10851,1.02,281.8,686.5,10.8,524,10856,0.12,2.58,0.00,0.000,4,0.057,0.055,2592,906,1660
$GC,10914,0.98,281.8,676.3,16.6,527,10918,0.00,2.47,0.00,0.000,6,0.000,0.041,2592,2303,1657
$GC,11240,0.93,281.8,632.8,12.9,543,11245,0.15,2.65,0.00,0.000,4,0.100,0.068,2564,3704,1656
$GC,11325,0.93,281.8,622.3,11.4,547,11330,0.00,2.47,0.00,0.000,6,0.000,0.034,2564,2303,1656
$GC,11652,0.98,285.2,598.4,7.4,563,11656,0.00,2.58,0.00,0.000,4,0.000,0.054,2564,890,1655
$GC,11707,1.03,285.2,593.5,9.0,565,11714,0.00,2.50,0.00,0.000,6,0.000,0.038,2564,2306,1654
$GC,12024,1.08,285.2,564.7,8.7,581,12026,0.15,0.00,0.00,0.000,6,0.051,0.000,2607,2307,1654
$GC,12333,1.02,285.2,534.2,9.7,596,12335,0.12,0.00,0.00,0.000,6,0.095,0.000,2583,2306,1654
$GC,12642,1.02,285.2,506.9,9.3,611,12643,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2307,1654
$GC,12951,1.02,285.2,476.6,10.0,626,12955,0.00,2.55,0.00,0.000,4,0.000,0.048,2583,888,1654
$GC,12983,1.02,285.2,473.0,10.3,627,12988,0.00,2.50,0.00,0.000,6,0.000,0.036,2583,2310,1654
$GC,13299,1.02,285.2,440.1,10.8,642,13300,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2310,1654
$GC,13608,1.02,285.2,405.8,11.2,657,13609,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2310,1654
$GC,13918,1.02,285.2,372.9,10.4,672,13919,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2310,1654
$GC,14227,1.02,285.2,341.4,10.1,687,14231,0.00,2.55,0.00,0.000,4,0.000,0.047,2583,888,1655
$GC,14272,1.02,285.2,336.9,9.9,689,14276,0.00,2.47,0.00,0.000,6,0.000,0.036,2583,2305,1655
$GC,14604,1.02,285.2,307.0,8.5,705,14605,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2305,1655
$GC,14914,1.02,285.2,281.4,8.3,720,14915,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2305,1655
$GC,15223,1.02,285.2,255.4,8.4,735,15227,0.00,2.53,0.00,0.000,4,0.000,0.046,2583,895,1655
$GC,15262,1.02,285.2,252.1,9.1,737,15266,0.00,2.47,0.00,0.000,6,0.000,0.036,2583,2311,1655
$GC,15588,1.02,285.2,224.4,8.3,753,15589,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2311,1655
$GC,15897,1.02,285.2,197.6,8.5,768,15898,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2310,1656
$GC,16206,1.02,285.2,171.3,8.5,783,16211,0.00,2.55,0.00,0.000,4,0.000,0.046,2583,888,1656
$GC,16251,1.02,285.2,167.3,8.9,785,16255,0.00,2.47,0.00,0.000,6,0.000,0.036,2583,2302,1656
$GC,16572,1.02,285.2,141.2,8.0,801,16573,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2302,1656
$GC,16883,1.02,285.2,115.9,8.1,816,16887,0.00,2.53,0.00,0.000,4,0.000,0.045,2583,888,1657
$GC,16938,1.02,285.2,110.8,8.6,818,16945,0.00,2.47,0.00,0.000,6,0.000,0.036,2583,2304,1657
$GC,17256,1.03,298.4,86.1,7.0,834,17274,0.00,0.00,14.27,0.575,6,0.000,0.000,2583,2304,1599
$GC,17585,1.03,298.4,60.8,8.6,850,17589,0.00,2.53,0.00,0.000,4,0.000,0.045,2583,892,1597
$GC,17625,1.09,298.4,56.8,10.3,852,17629,0.00,2.47,0.00,0.000,6,0.000,0.035,2583,2307,1596
$GC,17952,1.14,298.4,22.5,10.3,868,17954,0.12,0.00,0.00,0.000,6,0.048,0.000,2624,2306,1596
$STATE,18134,end climb,SURFACE_DEPTH_REACHED
$STATE,18134,begin surface coast
$FINISH,0.6,1.001944
$STATE,18156,end surface coast,CONTROL_FINISHED_OK
$STATE,18156,begin surface
$SM_CCo,18240,0.00,0.000,0,0,1592,300.49
$SM_GC,1.71,12.12,0.00,0.00,0.086,0.000,0.000,72,2601,1592,-10.47,0.00,300.49
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1729
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,800.2,32.7
$24V_AH,23.6,14.971
$10V_AH,10.1,6.530
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,27.675,89.775,403.000,0.000,0.000,36.086,58.631,201.833,7.000,0.000,0.000,16.570,1558.320,14331.024,513.178,1764.503,544.661,0.000,1366.549,0.000,1724.226,0.000,48.201,0.000
$DEVICE_MAMPS,181.779,74.399,1109.082,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,646.211,598.663,503.002,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44272,878
$CAP_FILE_SIZE,119052,0
$CFSIZE,260165632,254976000
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,150609,143324,6157.979,-958.473,24,1.9,41,-9.9